Multi-step torque distribution for an over-actuated electric vehicle

被引：0
作者：
Jing, Houhua [1 ]
Liu, Zhiyuan [1 ]
Liu, Haifeng [1 ]
机构：
[1] Harbin Inst Technol, Dept Control Sci & Engn, Harbin 150001, Peoples R China
来源：
INTERNATIONAL JOURNAL OF VEHICLE DESIGN | 2020年 / 82卷 / 1-4期
基金：
中国国家自然科学基金;
关键词：
Over-actuated; torque distribution; energy efficiency optimisation; model predictive control;
D O I：
10.1504/IJVD.2020.113915
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The over-actuated electric vehicle can flexibly adjust the torque of four wheels, to improve operational efficiency and vehicle motion performance. A multi-step torque distribution strategy is proposed, which can comprehensively consider the energy optimisation, vehicle stability and actuator dynamics, and realise the comprehensive control of longitudinal and lateral motion. It is composed of a static control allocation for energy optimisation, and a dynamic control allocation for manoeuvrability and stability enhancement based on model predictive control. It does not rely on complex online optimisation and is adaptive to highlight energy-saving, motion performance or stability under various scenarios. Finally, the controller is validated using a high-fidelity simulator called veDYNA.
引用
收藏
页码：140 / 160
页数：21
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